NONLINEAR FEEDBACK CONTROL FOR

OPERATING A NONISOTHERMAL CSTR

NEAR AN UNSTABLE STEADY STATE

D D BRUNSt and J E BAILEY

Department of Chemical Engmeenng, Umverslty of Houston, Houston, TX 77004,U S,A

(Recewed 2 March 1976,accepted 24 May 1976)

Abstrae-Appbcat~on of relay feedback controllers to mamtam process states near unstable steady states 1s
extended to a secondordersystem.the CSTR w&t an ureverslble,exotbernucreaction The controlscheme1s
successfulprovided the bandanth (the reactor temperature devotion wtuch causes relay swltcbmg) ISnot chosen too
large relative to the dnve levels (the deviation m coolant temperature caused by relay swttchmg) In tlus context
Tsypkm’s analytical methods for approxunate solution of tlus and higher order probtems are elaborated and tested
Tsypkm’s techmque proves supenor to JJescmbmg Function analysts 111accuracy and m bounds on the maxamum
pemnsslble bandwidth

INTRODUCTION SW of the time dertvative of concentration at any

Reactor aperation near an unstable steady state can
provide an optunum comprormse between conversion and
selectlvlty or between catalyst actlvlty and longevrty
These and other examples of performance advantages at
unstable states were reviewed m an earlier paper [l] Also
considered m that work were feedback control stratemes
for mamtammg the reactor state near the desved unstable
steady state Although conventional hnear controllers are
sometnnes adequate for thy task (see [2]), occas~onaliy
practical dficulties prevent Implementation of these
control methods [ 1,3]
An alternative control strategy employmg no&near
feedback control IS avadable [l] Usmg a relay wtth
hysteresis as the control element, the closed loop system
IS designed to yield a stable, small amphtudelmnt cycle m
the neighborhood of the desued operatmg pomt In many
Instances, such a response IS an acceptable substitute for
operation at the desired pomt Two approxnnate analyt+
cai methods, Descnbmg Function (OF) analysis and
Tsypkm’s method, are aviulable for design of the relay
Based on apphcation of both of these methods to a first
order system it appears that Tsypkm’s method yields far
more accurate results than the DF approach[l]
Consequently, emphasis m tis work wti be lmd on
Tsypkm’s techmques Besides dlustratmg apphcation of
the method to a more mterestmg and complex example
than m[l], such emphasis WIII also permit more thorough
presentation of the avadable mathematical tools based on
Tsypkm’s work This 1s an vngortant conslderatlon smce
this useful approach 1s apparently unfamti to most
chenucal engmeers
For the one-dnnenslonal CSTR (contmuous flow stu-red
tank reactor) consldered in the orq3mal exposition of the
nonhnear control scheme [l], many of the dynanuc
features can be ngorously determmed from a now
standard graphcal techmque By exammmg a van
Heerden-type dragram, with removal rate and appearance
rate simultaneously plotted agamst concentration, the
concentration follows duectly T~LS feature makes design
of the relay control element &a&forward
It has been estabhshed for some tune, however, that
ih~~graphcal remhtion of process dynanucs 1s not correct
for systems described by two or more state varmbles Tlus
rases the followmg questions Can the nonhnear feed-
back control strategy, which rehed so heavdy on the van
Heerden warn for mterpretation and development m
its 1rntlaIexposition. be adapted and apphed to second and
h&er order processes7 What new pttfalls anse when
there are two or more state varrables?
As an i~tial exploration of these Issues, thus work
considers the two state vanable reactor most deeply
embedded m the annals of chemical reactor theory the
CSTR ~th external coohng m wbch a single vreverslble
exothermlc reaction occurs The next section recapitulates
the standard model for this system, wluch IS then reduced
to the lmeanzed form reqmred m the approxunate control
design procedure
REACTOR MODELS AND RELAY CONTROL DBSIGN
The dynamic CSTR model 1s usually wrrtten m the
followmg dunensionless form
$7 = 1 - 3 + DafiW ey(l-“*) + v(W - 9)
(2)
where W, 9, LPIand t are the dImensIonless reactant
concentration, reactor temperature, coolant temperature,
and time, respectively, and the standard dunenslonless
parameters are defined m the Notation Multiple steady
stat+ aflSe m the system for certam sets of parameter
values, mcludmg the followmg values which wdl be
employed III ths work

Da=OO637, @=0167
Wurrent address Chemical and Metallur~cal Engmeermg,
University of Tennessee, Knoxvdle, TN 37916, U S A y =377, v=O1356, Q&=1048 (3)
257
258 D D BRUNS and 3 E BAILEY

We the general dynanucal features of this reactor that the motion of the state so achieved remams near the
have already been rather thoroughly mvesmted[4], tt ts om unstable state S, the generahzed control obJectWe
mstructive m the current context to examme the behavior mentioned above WINbe fuliilled Further mvesQ@on of
of the process 111the phase plane The control oblective IS tlus matter follows formahzation of the control strategy
mamtenance of the system state m the nerghborhood of The control approach just descllbed ISpractical only If
the unstable steady state labelled S 111i%g 1 why% it can be reduced to a set of rules, preferably IIIfeedback
corresponds to Q = 9, Thus 1s to be achieved through form For tlus reactor, the previous phase plane scenarro
mampulation of % m a fashion to be outhned next. suggests the followmg scheme mvolvmg feedback of
Notice m FQ 1 that the separati, whch 1s mdscated reactor temperature
by a dashed hne, 1s never crossed by a trajectory and, us a
sense, repels all states not on the separati Focusmg
now on a small neighborhood of the phase plane near S, I% for O<$-y*
c-y3
consider the lntluence of small changes ~u~(u, > 0) m 0
Increasmg (ec to a value
and ~~-y*C~<~,+Y* If =>o
Q=
‘p1_ for %>%+y* (any% dr (6)
Q+ = c + &, (4)

sMts the separatnx to the left, wlule the separatnx moves

to the r&t when ‘11IS decreased to
c_=%~-c (3
(see FQ 2) Clearly, for the situation shown m Fig 2 to
occur, u, must be chosen sufficiently small so that three
steady states exist for both %+ and LpL_Smce separatrrces
tend to repel the state, It follows that, vvlth Q = Q_, states
between the %- and %+ separatices v&l eventually move
towards the 91, separatrw If Q IS switched to
%!+ before the 9+ separatnx 1s crossed, the state will
ultunately return towards the ceC_separam SwWhmg
back to Q_ at an appropIlate pomt followed by sllltable
alternation between 91_ and ‘p1,would then trap the state
forever between the correspondmg separatices Provided
These are sunply the definmg equations for a relay with
hysteresis m which a switch from %_ to Q, occurs when
0 decreases to iV*- y *, and the reverse sw&ch happens
when 3 increases to the value 9, + y *
In order to mvestigate Uus control scheme analyt~ally,
hnemtion of the reactor model IS necessary As
&scussed m the earher paper on tlus toplc[l], the
hnemtion approxunation Is not expected to introduce
serious error so long as devlatrons of varmbles which
appear m the model are sulliclently small Lmeanzmg the
model of eqns (1) and (2) about the unstable state (W,, %,
4!&) yields
dw
dt = a11w + &zY (7 1)

. UNSTABLE STEADY STATE

-----SEPARATRIX

096 104 I IO I 16
DIMENSIDNLESS TEMPERATURE

Fu 1 Phase plane dlustrat~oo of CSTR dynamtcs for the parameters of eqns (3) The control objectwe IS
mamtenance of the system state near S, the unstable steady state
 Nonlmear feedback control for operatmg a nomsothermal CSTR near an unstable steady state

_ SEPARATRIX

106 107 108 109

DIMENSIONLESS TEMPERATURE

XGg 2 Separatnces correspondmg to %+ and %_ contine system tralectones to the band between them by
appropruxte swtihmg between %+ and Qc_ Thus, small changes m 41 may be used to mamtam the process state near
S The pomts labelled S+ and S_ are unstable steady states correspondmg to %r+and I- respectively The dotted
traJectones correspond to system response near the %I- separatnx when 91 = I_. wlule the lmed traJectone8
demonstrate system dynarmcs near the 9, separati when 9r = 9s+

dy With ths represent&on of the lmear reactor model, the

;ii=a2,w+a,y+bu, (7 2)
overall structure of the closed loop control system is
ready recapitulated in a block dmgram (Rg 3)
where w, y and I( are the devlatlons of reactant
concentration, reactor temperature, and coolant tempera- AP?ROXUbtATE JJMIT CYCLE -ATION
ture from thev respective values at the unstable steady BY ‘ISWEWS MRITIOD
state S of mterest The coefficients m these equations are If the control scheme m Fw 3 a&eves the antxlpated
obtamed 111standard fashion effect descllbed above, osctllatrons m reactor temperature
Asswung zero uuti values for w and y pernuts and concentration in the vicuuty of S(w = y = 0) WIU
development from eqns (7) of the followmg transfer result Whde aualyt~al solutions for any such osc~&~t~ons
function relatmg the Laplace transform Y of reactor are not possible for the ongmal nonhnear model, exact
temperature deviations to the transform U of coolant solutions for oscillatory states as well as necessary and
temperature devu&ons sufliclent local stabMy conditions are available when the
hnearued process descnption IS employed The basis for
Y(s) W -ad such analyses IS Tsypkn?s method[5,6] with a few
k G(s) (8)
Uo=sZ-s(a,1+a22)+a,,a,-a,,a,, addItional mgre&ents [7j

RELAY

LINEARIZED
SYSTEM

U(t) Y(t)

“r
GW

I
Fii 3 Block wrn of the nonlmcarfeedback control scheme The nonlmear control element IS a passive relay
w&b hysteretus, and the process has been approxunated by a Imear~A model to pernut control system aaalysur by
Tsypkm and Descnbw Fun&on methods
260 D D BRUNS
and 3 J BAILEY

Smce these mathematical tools had not appeared m the y&) waveform, which, accordmg to Tsypkm theory[6,7],
chenucal engmeenng hterature untd the previous paper on may be wrrtten as
Uus control approach [ 11,It 1s appropmte to lscuss some
aspects of tl~s method m detad Such attention IS
necessary not only because these techruques are novel but
y,(t) = q
m .=P n
hn [G&nil,) e-‘] + G-u(t) (14)
also because, when applrcable, they appear to be much
more powerful than the relatively famdlar Descnbmg Substltutmg the partial fraction expansion of G(= G1) into
Function (IX) analysis eqn (14) and usmg the summation formulae of Gelb and
Tsypkm theory necessary con&tlons for an osculation Vander Velde ([6], p 197) yields the desired result
m a system such as tis with a passive, symmetric relay
(see [51) were cited m an earlier paper (eqns (24)-(26) III
[l]) apphcation of these to the present problem yields

(9 1)
where

(9 2) g,ta, q) =acosh(m1/2)-cosh(ml/2- a~)

q* cash (m/2) ’
where & means that only odd n are to be mcluded m the (16 1)
summation, and G,(s) IS defined by Irslnh(vD-al))
g2(Q,‘) = 4 I) cash (lr7//2) (16 2)
Gl(s) = G(s) - G, (10 1)
Fmally, there remams the question of stab&y of
With
oscillatory solutions obtamed by the above procedures
Gs.= hm G(s) (10 2) The theorems for mves0gatmg stabtity are summarized m
the Append=, and proofs of these new results are aven in
I-

For this problem G, 1s zero so G, 1s Identical to G
Expandmg G m eqn (8) m partial fractions followed by
use of Gelb and Hen&son’s summation formulae (see [61,
p 194) permits rewntmg of condlhons (9) XI the form
z!-&-z$&!&-~
-panh
1 2 c
deli elsewhere171 In order to determme which case of
the stability theorem apphes here, It is necessary to check
the SI~RSof y before and after the swltchmg tune
t = lr/fi, From eqn (14) and the theory of Fomer senes
the followmg expressions for these denvatives may be
obtamed [6,7]
(11 1)

where A, and A2 are the elgenvalues of the hneanzed

system (1e the roots of the denonunator of G m eqn (8))
which have been assumed here and m the followmg to be
For the present reactor example, apphcafion of the
d&mct Other formulae result for the case of repeated
summation formula already mentioned allows the needed
euenvalues The numbers ~~and K~are defined L-. OY
denvatives to be wntten convemently as
K = HA, - a,,) K* = b;;;-;;;’
1 (12)
64,-A*) ’ y*(g) = +,tanh$+K.tanh~-b]

To determme the existence of osclllatlons 111the (18 1)

feedback system of Fe 3, eqn (11 1) ISsolved for the real
frequencies a, (I = 0, 1,2, Y*(g) = Y,(C) +2&b (18 2)
) of the oscdlatlons, and the
resultmg solutions must be tested 111mequahty (11 2)
Proof of the existence of an osctiatory state y, with These expressions may be used to determine
frequency Q from eqns (11) requves vefication of the
“contuuuty condition” With a passive, symmetnc relay
tlus con&tion is E=yn[n(g)] %n[Y(Z)] (19)

m the passive relay stabtity equation

Y,wcY* for O=tCg, (13)
1
1+ #?[G,(s)] + G-3 = 0 (20)
where tune f = 0 is defined by a swatch of the relay to the
posltlve dnve level Apphcabon of Ws test requires the )I
 Nonhnear feedback control for operatmg a nomsothermal CSTR near an unstable steady state 261

where 9 denotes the z-transform operator For talus
reactor control example w&h G from eqn (8), the
script-bracketed coefficient m eqn (20) may be wntten
as PI
where
Ti = am,
Local stab&y determmation now follows from the roots
of eqn (20) accordmg to the theorem m the Appendur
TsYPxlNOsclLLAmRY $oLrJTIONs AM) coMPANsoNs
ExAcTAImDEsc~ mJNcrIoNREsuLTs
Analytical inves@ahons of eqns (11) reveal that for
u, > 0 and any set of parameters for which S is a saddle
pomt or node, If a real solutmn Q to eqn (11 1) exists, It
always satisfies eqn (112) and It IS umque provided the
followmg necessary and sufficient con&tion IS met
sgn hII= sgn CKJ or I4 > 14
where the algentralues A, and A2 arc labelled such that
j11,ic ]&I Under the above con&tions of umqueness,
further analysis shows that If ay/& = L, > 0, a passive
relay with hysteresis must be employed for the controller
If ctitrol IS to be aeheved For equations analogous to
eqns (11) and the control system of Fig 3 contammg an
active relay, It IS agam found that any real solution to the
Cond&on (112) Table 1 mdicates the frequenc=s i&
obtamed from eqn (11 1) for four Merent sets of control
parameters In each case, stabMy of the Tsypkm SoEtlhon
was vetied by numerical evaluation of the roots of eqn
(20) Also shown m Table 1 IS a,, the frequency of the
oscfiation obtamed by sunulabon usmg the fill nonlmezar
(21) model of eqns (1) and (2) m place of 1t.s hneanzed
descnption, eqn (8) nrrP IS the frequency md~cated by
Descnbmg Funtion analysis, an approprmte techmque,
whnzhm add&on to hneanzation of the system, mvolves
“harmomc hnmzation” of the relay control elezment
(see[l, 71) Comparrsons among the various Q and L
suggest that system lmearrzatlon does not mtroduce
senous error, wMe &screpancles between 0, and fL
WITE reveal weaknesses in the harmomc hnatIon approxl-
matmn These findmgs are consistent wxth those m[l] m
wluch a sunpler system was consldered
Analogous conclusions emerge from the oscdlafion
amphtudes computed usmg smmlatmn (Ad, Describmg
Function analysis (A&, and Tsypkm’s method (Ab) for
each set of control parameters To determme Ae, the
waveform y,(t) must be evaluated usmg eqns (15) and
(23) (16) F-e 4 dlustrates one osctiatory response so
obtamed as well as the correspondmg DF and smmlatmn
solution for tis example Agam the supenonty of
Tsypkm analysis to the DF techmque is clear NoWe that,
_ TSYPKW
----- SIMULATION

equality always satisfies the mequality v&h conQhon (23)

provldmg a necessary and sutkent cntenon for umque-
ness When con&fion (23) is satisfied and aylau = b < 0,
rt can be demons&a&d that the controller must be an
acWe relay element If a peflo&c solution Is to exist
Apphcatmn of these results to the steady state S of
Interest (parameters of eqns 3) reveals that when a real F@ 4 Oscfiation waveforms sven by DF. Tsypkm, and
solution to eqn (11 1) exists, It IS umque and satisfies smulation calculatmns for y* = 0 00521 and IJ== 0 0216

Table 1 Sunulation (sun), Tsypkln (O), and Descnbmg Function (DF) results for oscillation amphtude (A) and
frequency (aZ)for a vmety of bandwIdth (y*) and dme level (L) values

CASE I II III lx
I ___---__ __

“C 0 0108 0 0216

y*x 103 2 61 I45 5 21 2 90

A Sld IO3 3 01 I 48 6 05 2 96

Aox103 3 00 I 46 6 01 2 95

Ao,x IO’ 4 30 I89 8 61 3 78

a SIM 0 893 165 0 694 I 65

262 D D BRUNS and J E BAILEY
111contrast to both approxnnate responses, the not&near
srmulatmn result is shghtly asymmetrical about the y = 0
baschne, mctcatmg a sbght d@acement 111the mean
reactor temperature from ?&
The overshoot evident m the smmlatlon waveform m
Rg 4 does not occur for first order systems ms
unportant feature is perhaps best put m proper perspec-
tive by exammmg the correspondmg phase plane presen-
tation (Fe 5) Notice that as the relay bandwdth IS
increased, there w more of an overshoot m both
temperature y and concentration w before the traJect.ory
reverses and heads away from the repellmg separatnx
The cruetal nature of tis me&a is dramatically tllustrated
by Curve 3 where the system state closely approaches the
a_ separatnx before the control level IS switched to
u = -Us The traJectory then follows near the separatnx
and approaches the S_ unstable steady state very closely
before bemg pushed away If the system were operated m
such a fashion, even smalI hsturbances of suJ3cient
dun&on m feed temperature or concentration could cause
the state of the system to be moved across the separam
and control would be lost The unportance of higher order
system dynarmcs 1s also shown m the relation&p
between the separatrices and traJectones If the band-
w&h IS too large-, the corrcspondmg traJectory wdl
escape the regon contamed by the 4~ and Q, separat-
rices,, and the control scheme fads
Consequently, a maJor ObJectWein deslgntng nonhnear
feedback controls for thy and other h@er order systems
IS determmabon of the upper lumt on the bandvvldth
whch pernnts reahzatlon of the desired oscdlatory state
Such lmuts are most conveniently formulated m terms of
the temperature deviations at the unstable steady states
S+ and S_ correspondmg to ‘%!, and 4!L respectively
According to the lmeanzed model, these deviations are
my, where
bucall
Ye =
(alla22- a12a21)
‘1,. -1 w aUNSTABLE STEADY
‘\ - --- SEPARATRICES
IO - LIMIT CYCLES
Fw 5 Controlsystem osc~&tlonsm the phase plane show the
effect of lncreasmg the bandwIdth. y*. for II,= 0 0216 and
y* = 0 00290 (Case I of Table 1, 6 = 0 5 6,, Curve 11,
y+=OOO521 (Case II of Table 1, 6=09 dmuDp, Curve 2),
y* = 0 00843 (6 = 6_, curve 3)
Evidently, because of second order system dynanucs, the
ratio of swrtchmg band width y * to yc
a=$
(25)
must be less than umty to preserve confrdl and obtam a
peno&c state near S
So long as con&tion (23) ISsatified, lmphclt Mere&a-
tion of eqn (11 1) shows that as y * 1s mcreased, &
decreases Tummg tis around, the upper lmut of
bandwdth yL wbch provides an oscillatory response
according to Tsypkm theory ISobtained by computmg the
lout of eqn (11 1) as 0 approaches zero (a smular
statement holds for an active relay) The result, followmg
substitutions for A.I)At, K, and K~ m terms of the lmeanzed
model coefficients, 1s
Notice that ths lumt on bandvvldth 1s a function of steady
state operatmg con&tlons For those of thus example and
thus all cases of Table 1, the value of S_, IS 0 644
The exact values for the upper hrmt of 8 determmed by
simulation are 0 617 for cases I and II and 0 632 for cases
III and IV Contrastmg VW&~ vvlth the accuracy of the
Tsypkm approxuuation ISthe Descnbmg Functton result
numerical stties of the DF equations appropriate to Ws
problem revealed S_,, = 0 434 for all cases of Table 1
CONCLUDE’JG DISCUSSION
The accurate anaIy&al upper lumt on relay bandwidth
gtven m eqn (26) ISa strong attestauon to the power of the
Tsypkm approach for design of no&near feedback
controllers for chenucal process operation near an
unstable steady state. In thus paper, all maJor aspects of
(24) Tsypkm theory mcludmg several recent extensions[7]
have been described,, and the methods have been apphed
to a classical system m chemical reactor theory Another
unportant extension of [ 1] provided here ISreplacement of
STATE!
the van Heerden &agram mterpretatlon of the control
scheme with a phase plane view Thus latter prespectwe is
amenable to relatively dvect extension to h&er order
systems In fact, investtgatmg apphcation of the control
idea espoused here and m[ 1] to considerably more
complex chemical processes 1s an mterestmg area for
future study One key problem m tis connection 1s the
relationship between aggregation or lumping approxuna-
tions and the smtablhty of the resultmg feedback relay
controller
Acknowledgements-The authors were supported in part by NSF,
by the Drepfus Foundation, and by the Uruverslty of Houston D
D Bruns gratefullyacknowledgesfinancialsupport from a Stella
L Ebrbardt Fellowshp and an NSF Graduate Trameeshp
NOTATION
A amphtude
oscfflation
SB heat transfer area
 Noolmear feedback control for operatmg a nomsothermal CSTR near an unstable steady state 263

cctefficlents m the lmeanzed reactor Subscripts

model pertamngto relay dnve levels
reactant concentration DE descnbmg functmn
spectic heat f feed con&bon
DamMhler number (= V.kO e-* /F) pertammg to the zth solution from the
activation energy Tyspkm method
feed and efauent volumetnc flow rate max mkcates maxunum value which al-
reactor transfer function (eqn 8) lows control to be acheved
functions defined by eqns (16) S pertammg to the reference unstable
defined m eqns (10) steady state s
z-transform of G(s) Sllll simulation
advanced z-transform of G(s) 0 the fist oscdlatory solution from
heat transfer coefficient Tyspkm’s analysis
magm=y part +. - corresponrlmg to positive and nega-
Ii-1 tive coolant temperature deviations
pre-exponential factor
gas law constant
real part Superscripts
Laplace transform parameter +,- r&t and left hand lmuts, respectively
unstable steady state * pertammg to the svvltchmg pomts of
slgnum function the relay
dunenslonless tune (=F (real
tm=)/V)
T reactor temperature REFERENc!Es
TCool coolant temperature [ll Bruns D D and Badey J E , Chem Engng
- - SCI 1975 30 7S5
u dunenslonless coolant temperature [2] Ans R and Amundson N R , Cfiem Engng Scr 19587 132
deviation - - Scr 1962 17 423
131Westertexu K R . Chem Enana
i4i Uppal A ,kay W OH and Poore A B , Chem Engng SCJ 1974
u Laplace transform of u 29 %7
Q dunenslonless coolant temperature [5l Hsu J C and Meyer A U , Modem Control PnncrDfes and
(= T,,/T,) Applxatrons Mck-aw-Hdl.New York 1%8 _
V reactor volume 161
_ _ Gelb A and Vander Velde W E . Multde-Inout Lhwcnbnw
Functions and Nonlrnear System krgn- Mc&aw-H111, New
W dunenslonless concentration devm- York 1968
tion [7] Bruns D D , Ph D Thesis, Umversdy of Houston, Houston,
W dunensionless concentration (= c Ic,) Texas 1974
Y dunensionless reactor temperature
devlatlon
Y Laplace transform of y Stab&y analysts of Tsypkm approximate solutwns
3 dunenslonless reactor temperature The theory of lmear sampled-data systems provides the
(= TIT,) followmg theorem
TheoremA 1 For a closed loop sampled-data system m the
z-transform parameter form of Fw Al, let the lmear element of the system, G(s), be
z-transform operator gwen by an ordmary tune-mvanant lmear Mere&al equation
advanced z-transform operator whose states are completely controllable and observable wltb K,
the gam constant of the system and 7. the samphng penod If
(1) for all m, (9,(z,m) has the same set of poles as
S?*(z,0) = g(z), where L(z, m) and (4(z) are the advanced
Greek symbols z-transform and z-transform of G(s) respectively[5]. and If
B dunenslonless admbak temperature (2) all the zeros, z,, of

1+ K.%(z) = 0 (Al)
dunensionless activation energy
he m IzIC 1, the ongm of the state space IS stable If any of the
(=E/RTI) zeros he m lzj > 1 the ongm wdl be unstable
dlmenslonless parameter defined m
eqn (25)
heat of reaction
number evaluated usmg eqn (19)
defined m eqns (12) 1
linearized system elgenvalues Fa Al Schematic block dmgram of lmear sample data feedback
dnnenslonless heat transfer coeffi- system

cient (= j$$-) By appropnately choosmg 7. and K. [7]. further analysis [5,7]

leads to the development of Theorem A2
density Theorcrn A2 The local asymptotic stabtity of an oscdlation of
264 D D BRUNS and3 E BALIZY

frequency t2, ISto be determmed for a relay controlled feedback with c defined accord- to the passive or achve nature of the
system contauung a symmetnc reiay with hysteresis havmg drwe relay element
levels of CU, and a hnear transfer functmn, G(s), havmg at least
as many poles as zeroes Usmg the nomenclature of FM Al, 7.
[sgn[e,(g)] sgn[e($)] forapasswerelay
and K, are taken as
l =

(A21
-sgn [e,(g)] sgfa [ e,(g)] for an active relay
and
(A31 ‘hen, the penodw solutzon Hrlllbe asymptotically stable to small
disturbances d all condhons of Theorem Al are satisfied except
for a smgle zero at 2 = -1